
kal:     file format elf64-x86-64


Disassembly of section .init:

0000000000001000 <_init>:
    1000:	f3 0f 1e fa          	endbr64 
    1004:	48 83 ec 08          	sub    $0x8,%rsp
    1008:	48 8b 05 d9 3f 00 00 	mov    0x3fd9(%rip),%rax        # 4fe8 <__gmon_start__>
    100f:	48 85 c0             	test   %rax,%rax
    1012:	74 02                	je     1016 <_init+0x16>
    1014:	ff d0                	callq  *%rax
    1016:	48 83 c4 08          	add    $0x8,%rsp
    101a:	c3                   	retq   

Disassembly of section .plt:

0000000000001020 <.plt>:
    1020:	ff 35 8a 3f 00 00    	pushq  0x3f8a(%rip)        # 4fb0 <_GLOBAL_OFFSET_TABLE_+0x8>
    1026:	f2 ff 25 8b 3f 00 00 	bnd jmpq *0x3f8b(%rip)        # 4fb8 <_GLOBAL_OFFSET_TABLE_+0x10>
    102d:	0f 1f 00             	nopl   (%rax)
    1030:	f3 0f 1e fa          	endbr64 
    1034:	68 00 00 00 00       	pushq  $0x0
    1039:	f2 e9 e1 ff ff ff    	bnd jmpq 1020 <.plt>
    103f:	90                   	nop
    1040:	f3 0f 1e fa          	endbr64 
    1044:	68 01 00 00 00       	pushq  $0x1
    1049:	f2 e9 d1 ff ff ff    	bnd jmpq 1020 <.plt>
    104f:	90                   	nop
    1050:	f3 0f 1e fa          	endbr64 
    1054:	68 02 00 00 00       	pushq  $0x2
    1059:	f2 e9 c1 ff ff ff    	bnd jmpq 1020 <.plt>
    105f:	90                   	nop

Disassembly of section .plt.got:

0000000000001060 <__cxa_finalize@plt>:
    1060:	f3 0f 1e fa          	endbr64 
    1064:	f2 ff 25 8d 3f 00 00 	bnd jmpq *0x3f8d(%rip)        # 4ff8 <__cxa_finalize@GLIBC_2.2.5>
    106b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

Disassembly of section .plt.sec:

0000000000001070 <free@plt>:
    1070:	f3 0f 1e fa          	endbr64 
    1074:	f2 ff 25 45 3f 00 00 	bnd jmpq *0x3f45(%rip)        # 4fc0 <free@GLIBC_2.2.5>
    107b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

0000000000001080 <puts@plt>:
    1080:	f3 0f 1e fa          	endbr64 
    1084:	f2 ff 25 3d 3f 00 00 	bnd jmpq *0x3f3d(%rip)        # 4fc8 <puts@GLIBC_2.2.5>
    108b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

0000000000001090 <malloc@plt>:
    1090:	f3 0f 1e fa          	endbr64 
    1094:	f2 ff 25 35 3f 00 00 	bnd jmpq *0x3f35(%rip)        # 4fd0 <malloc@GLIBC_2.2.5>
    109b:	0f 1f 44 00 00       	nopl   0x0(%rax,%rax,1)

Disassembly of section .text:

00000000000010a0 <_start>:
    10a0:	f3 0f 1e fa          	endbr64 
    10a4:	31 ed                	xor    %ebp,%ebp
    10a6:	49 89 d1             	mov    %rdx,%r9
    10a9:	5e                   	pop    %rsi
    10aa:	48 89 e2             	mov    %rsp,%rdx
    10ad:	48 83 e4 f0          	and    $0xfffffffffffffff0,%rsp
    10b1:	50                   	push   %rax
    10b2:	54                   	push   %rsp
    10b3:	4c 8d 05 26 16 00 00 	lea    0x1626(%rip),%r8        # 26e0 <__libc_csu_fini>
    10ba:	48 8d 0d af 15 00 00 	lea    0x15af(%rip),%rcx        # 2670 <__libc_csu_init>
    10c1:	48 8d 3d 56 08 00 00 	lea    0x856(%rip),%rdi        # 191e <main>
    10c8:	ff 15 12 3f 00 00    	callq  *0x3f12(%rip)        # 4fe0 <__libc_start_main@GLIBC_2.2.5>
    10ce:	f4                   	hlt    
    10cf:	90                   	nop

00000000000010d0 <deregister_tm_clones>:
    10d0:	48 8d 3d 39 3f 00 00 	lea    0x3f39(%rip),%rdi        # 5010 <__TMC_END__>
    10d7:	48 8d 05 32 3f 00 00 	lea    0x3f32(%rip),%rax        # 5010 <__TMC_END__>
    10de:	48 39 f8             	cmp    %rdi,%rax
    10e1:	74 15                	je     10f8 <deregister_tm_clones+0x28>
    10e3:	48 8b 05 ee 3e 00 00 	mov    0x3eee(%rip),%rax        # 4fd8 <_ITM_deregisterTMCloneTable>
    10ea:	48 85 c0             	test   %rax,%rax
    10ed:	74 09                	je     10f8 <deregister_tm_clones+0x28>
    10ef:	ff e0                	jmpq   *%rax
    10f1:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)
    10f8:	c3                   	retq   
    10f9:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)

0000000000001100 <register_tm_clones>:
    1100:	48 8d 3d 09 3f 00 00 	lea    0x3f09(%rip),%rdi        # 5010 <__TMC_END__>
    1107:	48 8d 35 02 3f 00 00 	lea    0x3f02(%rip),%rsi        # 5010 <__TMC_END__>
    110e:	48 29 fe             	sub    %rdi,%rsi
    1111:	48 89 f0             	mov    %rsi,%rax
    1114:	48 c1 ee 3f          	shr    $0x3f,%rsi
    1118:	48 c1 f8 03          	sar    $0x3,%rax
    111c:	48 01 c6             	add    %rax,%rsi
    111f:	48 d1 fe             	sar    %rsi
    1122:	74 14                	je     1138 <register_tm_clones+0x38>
    1124:	48 8b 05 c5 3e 00 00 	mov    0x3ec5(%rip),%rax        # 4ff0 <_ITM_registerTMCloneTable>
    112b:	48 85 c0             	test   %rax,%rax
    112e:	74 08                	je     1138 <register_tm_clones+0x38>
    1130:	ff e0                	jmpq   *%rax
    1132:	66 0f 1f 44 00 00    	nopw   0x0(%rax,%rax,1)
    1138:	c3                   	retq   
    1139:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)

0000000000001140 <__do_global_dtors_aux>:
    1140:	f3 0f 1e fa          	endbr64 
    1144:	80 3d c5 3e 00 00 00 	cmpb   $0x0,0x3ec5(%rip)        # 5010 <__TMC_END__>
    114b:	75 2b                	jne    1178 <__do_global_dtors_aux+0x38>
    114d:	55                   	push   %rbp
    114e:	48 83 3d a2 3e 00 00 	cmpq   $0x0,0x3ea2(%rip)        # 4ff8 <__cxa_finalize@GLIBC_2.2.5>
    1155:	00 
    1156:	48 89 e5             	mov    %rsp,%rbp
    1159:	74 0c                	je     1167 <__do_global_dtors_aux+0x27>
    115b:	48 8b 3d a6 3e 00 00 	mov    0x3ea6(%rip),%rdi        # 5008 <__dso_handle>
    1162:	e8 f9 fe ff ff       	callq  1060 <__cxa_finalize@plt>
    1167:	e8 64 ff ff ff       	callq  10d0 <deregister_tm_clones>
    116c:	c6 05 9d 3e 00 00 01 	movb   $0x1,0x3e9d(%rip)        # 5010 <__TMC_END__>
    1173:	5d                   	pop    %rbp
    1174:	c3                   	retq   
    1175:	0f 1f 00             	nopl   (%rax)
    1178:	c3                   	retq   
    1179:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)

0000000000001180 <frame_dummy>:
    1180:	f3 0f 1e fa          	endbr64 
    1184:	e9 77 ff ff ff       	jmpq   1100 <register_tm_clones>

0000000000001189 <rinv>:
    1189:	f3 0f 1e fa          	endbr64 
    118d:	55                   	push   %rbp
    118e:	48 89 e5             	mov    %rsp,%rbp
    1191:	48 83 ec 50          	sub    $0x50,%rsp
    1195:	48 89 7d b8          	mov    %rdi,-0x48(%rbp)
    1199:	89 75 b4             	mov    %esi,-0x4c(%rbp)
    119c:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    119f:	48 98                	cltq   
    11a1:	48 c1 e0 02          	shl    $0x2,%rax
    11a5:	48 89 c7             	mov    %rax,%rdi
    11a8:	e8 e3 fe ff ff       	callq  1090 <malloc@plt>
    11ad:	48 89 45 e8          	mov    %rax,-0x18(%rbp)
    11b1:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    11b4:	48 98                	cltq   
    11b6:	48 c1 e0 02          	shl    $0x2,%rax
    11ba:	48 89 c7             	mov    %rax,%rdi
    11bd:	e8 ce fe ff ff       	callq  1090 <malloc@plt>
    11c2:	48 89 45 f0          	mov    %rax,-0x10(%rbp)
    11c6:	c7 45 c8 00 00 00 00 	movl   $0x0,-0x38(%rbp)
    11cd:	e9 3c 05 00 00       	jmpq   170e <rinv+0x585>
    11d2:	66 0f ef c0          	pxor   %xmm0,%xmm0
    11d6:	f2 0f 11 45 e0       	movsd  %xmm0,-0x20(%rbp)
    11db:	8b 45 c8             	mov    -0x38(%rbp),%eax
    11de:	89 45 d8             	mov    %eax,-0x28(%rbp)
    11e1:	e9 a8 00 00 00       	jmpq   128e <rinv+0x105>
    11e6:	8b 45 c8             	mov    -0x38(%rbp),%eax
    11e9:	89 45 cc             	mov    %eax,-0x34(%rbp)
    11ec:	e9 86 00 00 00       	jmpq   1277 <rinv+0xee>
    11f1:	8b 45 d8             	mov    -0x28(%rbp),%eax
    11f4:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    11f8:	89 c2                	mov    %eax,%edx
    11fa:	8b 45 cc             	mov    -0x34(%rbp),%eax
    11fd:	01 d0                	add    %edx,%eax
    11ff:	89 45 dc             	mov    %eax,-0x24(%rbp)
    1202:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1205:	48 98                	cltq   
    1207:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    120e:	00 
    120f:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    1213:	48 01 d0             	add    %rdx,%rax
    1216:	f2 0f 10 00          	movsd  (%rax),%xmm0
    121a:	f3 0f 7e 0d fe 1d 00 	movq   0x1dfe(%rip),%xmm1        # 3020 <_IO_stdin_used+0x20>
    1221:	00 
    1222:	66 0f 54 c1          	andpd  %xmm1,%xmm0
    1226:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    122b:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    1230:	66 0f 2f 45 e0       	comisd -0x20(%rbp),%xmm0
    1235:	76 3c                	jbe    1273 <rinv+0xea>
    1237:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    123c:	f2 0f 11 45 e0       	movsd  %xmm0,-0x20(%rbp)
    1241:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1244:	48 98                	cltq   
    1246:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    124d:	00 
    124e:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1252:	48 01 c2             	add    %rax,%rdx
    1255:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1258:	89 02                	mov    %eax,(%rdx)
    125a:	8b 45 c8             	mov    -0x38(%rbp),%eax
    125d:	48 98                	cltq   
    125f:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1266:	00 
    1267:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    126b:	48 01 c2             	add    %rax,%rdx
    126e:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1271:	89 02                	mov    %eax,(%rdx)
    1273:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1277:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    127a:	83 e8 01             	sub    $0x1,%eax
    127d:	89 45 cc             	mov    %eax,-0x34(%rbp)
    1280:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    1284:	0f 85 67 ff ff ff    	jne    11f1 <rinv+0x68>
    128a:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    128e:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1291:	83 e8 01             	sub    $0x1,%eax
    1294:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1297:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    129b:	0f 85 45 ff ff ff    	jne    11e6 <rinv+0x5d>
    12a1:	f2 0f 10 4d e0       	movsd  -0x20(%rbp),%xmm1
    12a6:	f2 0f 10 05 82 1d 00 	movsd  0x1d82(%rip),%xmm0        # 3030 <_IO_stdin_used+0x30>
    12ad:	00 
    12ae:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    12b2:	f2 0f 10 0d 76 1d 00 	movsd  0x1d76(%rip),%xmm1        # 3030 <_IO_stdin_used+0x30>
    12b9:	00 
    12ba:	66 0f 2e c1          	ucomisd %xmm1,%xmm0
    12be:	7a 3c                	jp     12fc <rinv+0x173>
    12c0:	f2 0f 10 0d 68 1d 00 	movsd  0x1d68(%rip),%xmm1        # 3030 <_IO_stdin_used+0x30>
    12c7:	00 
    12c8:	66 0f 2e c1          	ucomisd %xmm1,%xmm0
    12cc:	75 2e                	jne    12fc <rinv+0x173>
    12ce:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    12d2:	48 89 c7             	mov    %rax,%rdi
    12d5:	e8 96 fd ff ff       	callq  1070 <free@plt>
    12da:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    12de:	48 89 c7             	mov    %rax,%rdi
    12e1:	e8 8a fd ff ff       	callq  1070 <free@plt>
    12e6:	48 8d 3d 23 1d 00 00 	lea    0x1d23(%rip),%rdi        # 3010 <_IO_stdin_used+0x10>
    12ed:	e8 8e fd ff ff       	callq  1080 <puts@plt>
    12f2:	b8 00 00 00 00       	mov    $0x0,%eax
    12f7:	e9 20 06 00 00       	jmpq   191c <rinv+0x793>
    12fc:	8b 45 c8             	mov    -0x38(%rbp),%eax
    12ff:	48 98                	cltq   
    1301:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1308:	00 
    1309:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    130d:	48 01 d0             	add    %rdx,%rax
    1310:	8b 00                	mov    (%rax),%eax
    1312:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1315:	0f 84 c2 00 00 00    	je     13dd <rinv+0x254>
    131b:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1322:	e9 a3 00 00 00       	jmpq   13ca <rinv+0x241>
    1327:	8b 45 c8             	mov    -0x38(%rbp),%eax
    132a:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    132e:	89 c2                	mov    %eax,%edx
    1330:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1333:	01 d0                	add    %edx,%eax
    1335:	89 45 d0             	mov    %eax,-0x30(%rbp)
    1338:	8b 45 c8             	mov    -0x38(%rbp),%eax
    133b:	48 98                	cltq   
    133d:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1344:	00 
    1345:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1349:	48 01 d0             	add    %rdx,%rax
    134c:	8b 00                	mov    (%rax),%eax
    134e:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1352:	89 c2                	mov    %eax,%edx
    1354:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1357:	01 d0                	add    %edx,%eax
    1359:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    135c:	8b 45 d0             	mov    -0x30(%rbp),%eax
    135f:	48 98                	cltq   
    1361:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1368:	00 
    1369:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    136d:	48 01 d0             	add    %rdx,%rax
    1370:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1374:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    1379:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    137c:	48 98                	cltq   
    137e:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1385:	00 
    1386:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    138a:	48 01 c2             	add    %rax,%rdx
    138d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1390:	48 98                	cltq   
    1392:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    1399:	00 
    139a:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    139e:	48 01 c8             	add    %rcx,%rax
    13a1:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    13a5:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    13a9:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    13ac:	48 98                	cltq   
    13ae:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    13b5:	00 
    13b6:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    13ba:	48 01 d0             	add    %rdx,%rax
    13bd:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    13c2:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    13c6:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    13ca:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    13cd:	83 e8 01             	sub    $0x1,%eax
    13d0:	89 45 cc             	mov    %eax,-0x34(%rbp)
    13d3:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    13d7:	0f 85 4a ff ff ff    	jne    1327 <rinv+0x19e>
    13dd:	8b 45 c8             	mov    -0x38(%rbp),%eax
    13e0:	48 98                	cltq   
    13e2:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    13e9:	00 
    13ea:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    13ee:	48 01 d0             	add    %rdx,%rax
    13f1:	8b 00                	mov    (%rax),%eax
    13f3:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    13f6:	0f 84 c2 00 00 00    	je     14be <rinv+0x335>
    13fc:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    1403:	e9 a3 00 00 00       	jmpq   14ab <rinv+0x322>
    1408:	8b 45 d8             	mov    -0x28(%rbp),%eax
    140b:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    140f:	89 c2                	mov    %eax,%edx
    1411:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1414:	01 d0                	add    %edx,%eax
    1416:	89 45 d0             	mov    %eax,-0x30(%rbp)
    1419:	8b 45 d8             	mov    -0x28(%rbp),%eax
    141c:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1420:	89 c2                	mov    %eax,%edx
    1422:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1425:	48 98                	cltq   
    1427:	48 8d 0c 85 00 00 00 	lea    0x0(,%rax,4),%rcx
    142e:	00 
    142f:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1433:	48 01 c8             	add    %rcx,%rax
    1436:	8b 00                	mov    (%rax),%eax
    1438:	01 d0                	add    %edx,%eax
    143a:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    143d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1440:	48 98                	cltq   
    1442:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1449:	00 
    144a:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    144e:	48 01 d0             	add    %rdx,%rax
    1451:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1455:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    145a:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    145d:	48 98                	cltq   
    145f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1466:	00 
    1467:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    146b:	48 01 c2             	add    %rax,%rdx
    146e:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1471:	48 98                	cltq   
    1473:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    147a:	00 
    147b:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    147f:	48 01 c8             	add    %rcx,%rax
    1482:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    1486:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    148a:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    148d:	48 98                	cltq   
    148f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1496:	00 
    1497:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    149b:	48 01 d0             	add    %rdx,%rax
    149e:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    14a3:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    14a7:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    14ab:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    14ae:	83 e8 01             	sub    $0x1,%eax
    14b1:	89 45 d8             	mov    %eax,-0x28(%rbp)
    14b4:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    14b8:	0f 85 4a ff ff ff    	jne    1408 <rinv+0x27f>
    14be:	8b 45 c8             	mov    -0x38(%rbp),%eax
    14c1:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    14c5:	89 c2                	mov    %eax,%edx
    14c7:	8b 45 c8             	mov    -0x38(%rbp),%eax
    14ca:	01 d0                	add    %edx,%eax
    14cc:	89 45 dc             	mov    %eax,-0x24(%rbp)
    14cf:	8b 45 dc             	mov    -0x24(%rbp),%eax
    14d2:	48 98                	cltq   
    14d4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    14db:	00 
    14dc:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    14e0:	48 01 d0             	add    %rdx,%rax
    14e3:	f2 0f 10 08          	movsd  (%rax),%xmm1
    14e7:	8b 45 dc             	mov    -0x24(%rbp),%eax
    14ea:	48 98                	cltq   
    14ec:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    14f3:	00 
    14f4:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    14f8:	48 01 d0             	add    %rdx,%rax
    14fb:	f2 0f 10 05 2d 1b 00 	movsd  0x1b2d(%rip),%xmm0        # 3030 <_IO_stdin_used+0x30>
    1502:	00 
    1503:	f2 0f 5e c1          	divsd  %xmm1,%xmm0
    1507:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    150b:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1512:	eb 69                	jmp    157d <rinv+0x3f4>
    1514:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1517:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    151a:	74 5d                	je     1579 <rinv+0x3f0>
    151c:	8b 45 c8             	mov    -0x38(%rbp),%eax
    151f:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1523:	89 c2                	mov    %eax,%edx
    1525:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1528:	01 d0                	add    %edx,%eax
    152a:	89 45 d0             	mov    %eax,-0x30(%rbp)
    152d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1530:	48 98                	cltq   
    1532:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1539:	00 
    153a:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    153e:	48 01 d0             	add    %rdx,%rax
    1541:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1545:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1548:	48 98                	cltq   
    154a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1551:	00 
    1552:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    1556:	48 01 d0             	add    %rdx,%rax
    1559:	f2 0f 10 00          	movsd  (%rax),%xmm0
    155d:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1560:	48 98                	cltq   
    1562:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1569:	00 
    156a:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    156e:	48 01 d0             	add    %rdx,%rax
    1571:	f2 0f 59 c1          	mulsd  %xmm1,%xmm0
    1575:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1579:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    157d:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1580:	83 e8 01             	sub    $0x1,%eax
    1583:	89 45 cc             	mov    %eax,-0x34(%rbp)
    1586:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    158a:	75 88                	jne    1514 <rinv+0x38b>
    158c:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    1593:	e9 ce 00 00 00       	jmpq   1666 <rinv+0x4dd>
    1598:	8b 45 d8             	mov    -0x28(%rbp),%eax
    159b:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    159e:	0f 84 be 00 00 00    	je     1662 <rinv+0x4d9>
    15a4:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    15ab:	e9 9f 00 00 00       	jmpq   164f <rinv+0x4c6>
    15b0:	8b 45 cc             	mov    -0x34(%rbp),%eax
    15b3:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    15b6:	0f 84 8f 00 00 00    	je     164b <rinv+0x4c2>
    15bc:	8b 45 d8             	mov    -0x28(%rbp),%eax
    15bf:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    15c3:	89 c2                	mov    %eax,%edx
    15c5:	8b 45 cc             	mov    -0x34(%rbp),%eax
    15c8:	01 d0                	add    %edx,%eax
    15ca:	89 45 d0             	mov    %eax,-0x30(%rbp)
    15cd:	8b 45 d0             	mov    -0x30(%rbp),%eax
    15d0:	48 98                	cltq   
    15d2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    15d9:	00 
    15da:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    15de:	48 01 d0             	add    %rdx,%rax
    15e1:	f2 0f 10 00          	movsd  (%rax),%xmm0
    15e5:	8b 45 d8             	mov    -0x28(%rbp),%eax
    15e8:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    15ec:	89 c2                	mov    %eax,%edx
    15ee:	8b 45 c8             	mov    -0x38(%rbp),%eax
    15f1:	01 d0                	add    %edx,%eax
    15f3:	48 98                	cltq   
    15f5:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    15fc:	00 
    15fd:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    1601:	48 01 d0             	add    %rdx,%rax
    1604:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1608:	8b 45 c8             	mov    -0x38(%rbp),%eax
    160b:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    160f:	89 c2                	mov    %eax,%edx
    1611:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1614:	01 d0                	add    %edx,%eax
    1616:	48 98                	cltq   
    1618:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    161f:	00 
    1620:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    1624:	48 01 d0             	add    %rdx,%rax
    1627:	f2 0f 10 08          	movsd  (%rax),%xmm1
    162b:	f2 0f 59 ca          	mulsd  %xmm2,%xmm1
    162f:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1632:	48 98                	cltq   
    1634:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    163b:	00 
    163c:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    1640:	48 01 d0             	add    %rdx,%rax
    1643:	f2 0f 5c c1          	subsd  %xmm1,%xmm0
    1647:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    164b:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    164f:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1652:	83 e8 01             	sub    $0x1,%eax
    1655:	89 45 cc             	mov    %eax,-0x34(%rbp)
    1658:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    165c:	0f 85 4e ff ff ff    	jne    15b0 <rinv+0x427>
    1662:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    1666:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1669:	83 e8 01             	sub    $0x1,%eax
    166c:	89 45 d8             	mov    %eax,-0x28(%rbp)
    166f:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    1673:	0f 85 1f ff ff ff    	jne    1598 <rinv+0x40f>
    1679:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    1680:	eb 75                	jmp    16f7 <rinv+0x56e>
    1682:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1685:	3b 45 c8             	cmp    -0x38(%rbp),%eax
    1688:	74 69                	je     16f3 <rinv+0x56a>
    168a:	8b 45 d8             	mov    -0x28(%rbp),%eax
    168d:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1691:	89 c2                	mov    %eax,%edx
    1693:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1696:	01 d0                	add    %edx,%eax
    1698:	89 45 d0             	mov    %eax,-0x30(%rbp)
    169b:	8b 45 d0             	mov    -0x30(%rbp),%eax
    169e:	48 98                	cltq   
    16a0:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    16a7:	00 
    16a8:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    16ac:	48 01 d0             	add    %rdx,%rax
    16af:	f2 0f 10 00          	movsd  (%rax),%xmm0
    16b3:	f3 0f 7e 0d 85 19 00 	movq   0x1985(%rip),%xmm1        # 3040 <_IO_stdin_used+0x40>
    16ba:	00 
    16bb:	66 0f 57 c8          	xorpd  %xmm0,%xmm1
    16bf:	8b 45 dc             	mov    -0x24(%rbp),%eax
    16c2:	48 98                	cltq   
    16c4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    16cb:	00 
    16cc:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    16d0:	48 01 d0             	add    %rdx,%rax
    16d3:	f2 0f 10 00          	movsd  (%rax),%xmm0
    16d7:	8b 45 d0             	mov    -0x30(%rbp),%eax
    16da:	48 98                	cltq   
    16dc:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    16e3:	00 
    16e4:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    16e8:	48 01 d0             	add    %rdx,%rax
    16eb:	f2 0f 59 c1          	mulsd  %xmm1,%xmm0
    16ef:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    16f3:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    16f7:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    16fa:	83 e8 01             	sub    $0x1,%eax
    16fd:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1700:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    1704:	0f 85 78 ff ff ff    	jne    1682 <rinv+0x4f9>
    170a:	83 45 c8 01          	addl   $0x1,-0x38(%rbp)
    170e:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1711:	83 e8 01             	sub    $0x1,%eax
    1714:	89 45 c8             	mov    %eax,-0x38(%rbp)
    1717:	83 7d c8 00          	cmpl   $0x0,-0x38(%rbp)
    171b:	0f 85 b1 fa ff ff    	jne    11d2 <rinv+0x49>
    1721:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1724:	83 e8 01             	sub    $0x1,%eax
    1727:	89 45 c8             	mov    %eax,-0x38(%rbp)
    172a:	e9 c6 01 00 00       	jmpq   18f5 <rinv+0x76c>
    172f:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1732:	48 98                	cltq   
    1734:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    173b:	00 
    173c:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1740:	48 01 d0             	add    %rdx,%rax
    1743:	8b 00                	mov    (%rax),%eax
    1745:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1748:	0f 84 c2 00 00 00    	je     1810 <rinv+0x687>
    174e:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1755:	e9 a3 00 00 00       	jmpq   17fd <rinv+0x674>
    175a:	8b 45 c8             	mov    -0x38(%rbp),%eax
    175d:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1761:	89 c2                	mov    %eax,%edx
    1763:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1766:	01 d0                	add    %edx,%eax
    1768:	89 45 d0             	mov    %eax,-0x30(%rbp)
    176b:	8b 45 c8             	mov    -0x38(%rbp),%eax
    176e:	48 98                	cltq   
    1770:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    1777:	00 
    1778:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    177c:	48 01 d0             	add    %rdx,%rax
    177f:	8b 00                	mov    (%rax),%eax
    1781:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1785:	89 c2                	mov    %eax,%edx
    1787:	8b 45 cc             	mov    -0x34(%rbp),%eax
    178a:	01 d0                	add    %edx,%eax
    178c:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    178f:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1792:	48 98                	cltq   
    1794:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    179b:	00 
    179c:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    17a0:	48 01 d0             	add    %rdx,%rax
    17a3:	f2 0f 10 00          	movsd  (%rax),%xmm0
    17a7:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    17ac:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    17af:	48 98                	cltq   
    17b1:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    17b8:	00 
    17b9:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    17bd:	48 01 c2             	add    %rax,%rdx
    17c0:	8b 45 d0             	mov    -0x30(%rbp),%eax
    17c3:	48 98                	cltq   
    17c5:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    17cc:	00 
    17cd:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    17d1:	48 01 c8             	add    %rcx,%rax
    17d4:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    17d8:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    17dc:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    17df:	48 98                	cltq   
    17e1:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    17e8:	00 
    17e9:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    17ed:	48 01 d0             	add    %rdx,%rax
    17f0:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    17f5:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    17f9:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    17fd:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    1800:	83 e8 01             	sub    $0x1,%eax
    1803:	89 45 cc             	mov    %eax,-0x34(%rbp)
    1806:	83 7d cc 00          	cmpl   $0x0,-0x34(%rbp)
    180a:	0f 85 4a ff ff ff    	jne    175a <rinv+0x5d1>
    1810:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1813:	48 98                	cltq   
    1815:	48 8d 14 85 00 00 00 	lea    0x0(,%rax,4),%rdx
    181c:	00 
    181d:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1821:	48 01 d0             	add    %rdx,%rax
    1824:	8b 00                	mov    (%rax),%eax
    1826:	39 45 c8             	cmp    %eax,-0x38(%rbp)
    1829:	0f 84 c2 00 00 00    	je     18f1 <rinv+0x768>
    182f:	c7 45 d8 00 00 00 00 	movl   $0x0,-0x28(%rbp)
    1836:	e9 a3 00 00 00       	jmpq   18de <rinv+0x755>
    183b:	8b 45 d8             	mov    -0x28(%rbp),%eax
    183e:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1842:	89 c2                	mov    %eax,%edx
    1844:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1847:	01 d0                	add    %edx,%eax
    1849:	89 45 d0             	mov    %eax,-0x30(%rbp)
    184c:	8b 45 d8             	mov    -0x28(%rbp),%eax
    184f:	0f af 45 b4          	imul   -0x4c(%rbp),%eax
    1853:	89 c2                	mov    %eax,%edx
    1855:	8b 45 c8             	mov    -0x38(%rbp),%eax
    1858:	48 98                	cltq   
    185a:	48 8d 0c 85 00 00 00 	lea    0x0(,%rax,4),%rcx
    1861:	00 
    1862:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1866:	48 01 c8             	add    %rcx,%rax
    1869:	8b 00                	mov    (%rax),%eax
    186b:	01 d0                	add    %edx,%eax
    186d:	89 45 d4             	mov    %eax,-0x2c(%rbp)
    1870:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1873:	48 98                	cltq   
    1875:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    187c:	00 
    187d:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    1881:	48 01 d0             	add    %rdx,%rax
    1884:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1888:	f2 0f 11 45 f8       	movsd  %xmm0,-0x8(%rbp)
    188d:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1890:	48 98                	cltq   
    1892:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1899:	00 
    189a:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    189e:	48 01 c2             	add    %rax,%rdx
    18a1:	8b 45 d0             	mov    -0x30(%rbp),%eax
    18a4:	48 98                	cltq   
    18a6:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    18ad:	00 
    18ae:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    18b2:	48 01 c8             	add    %rcx,%rax
    18b5:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    18b9:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    18bd:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    18c0:	48 98                	cltq   
    18c2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    18c9:	00 
    18ca:	48 8b 45 b8          	mov    -0x48(%rbp),%rax
    18ce:	48 01 d0             	add    %rdx,%rax
    18d1:	f2 0f 10 45 f8       	movsd  -0x8(%rbp),%xmm0
    18d6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    18da:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    18de:	8b 45 b4             	mov    -0x4c(%rbp),%eax
    18e1:	83 e8 01             	sub    $0x1,%eax
    18e4:	89 45 d8             	mov    %eax,-0x28(%rbp)
    18e7:	83 7d d8 00          	cmpl   $0x0,-0x28(%rbp)
    18eb:	0f 85 4a ff ff ff    	jne    183b <rinv+0x6b2>
    18f1:	83 6d c8 01          	subl   $0x1,-0x38(%rbp)
    18f5:	83 7d c8 00          	cmpl   $0x0,-0x38(%rbp)
    18f9:	0f 89 30 fe ff ff    	jns    172f <rinv+0x5a6>
    18ff:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1903:	48 89 c7             	mov    %rax,%rdi
    1906:	e8 65 f7 ff ff       	callq  1070 <free@plt>
    190b:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    190f:	48 89 c7             	mov    %rax,%rdi
    1912:	e8 59 f7 ff ff       	callq  1070 <free@plt>
    1917:	b8 01 00 00 00       	mov    $0x1,%eax
    191c:	c9                   	leaveq 
    191d:	c3                   	retq   

000000000000191e <main>:
    191e:	f3 0f 1e fa          	endbr64 
    1922:	55                   	push   %rbp
    1923:	48 89 e5             	mov    %rsp,%rbp
    1926:	90                   	nop
    1927:	5d                   	pop    %rbp
    1928:	c3                   	retq   

0000000000001929 <kalman>:
    1929:	f3 0f 1e fa          	endbr64 
    192d:	55                   	push   %rbp
    192e:	48 89 e5             	mov    %rsp,%rbp
    1931:	48 83 ec 70          	sub    $0x70,%rsp
    1935:	89 7d bc             	mov    %edi,-0x44(%rbp)
    1938:	89 75 b8             	mov    %esi,-0x48(%rbp)
    193b:	89 55 b4             	mov    %edx,-0x4c(%rbp)
    193e:	48 89 4d a8          	mov    %rcx,-0x58(%rbp)
    1942:	4c 89 45 a0          	mov    %r8,-0x60(%rbp)
    1946:	4c 89 4d 98          	mov    %r9,-0x68(%rbp)
    194a:	8b 45 b8             	mov    -0x48(%rbp),%eax
    194d:	0f af c0             	imul   %eax,%eax
    1950:	48 98                	cltq   
    1952:	48 c1 e0 03          	shl    $0x3,%rax
    1956:	48 89 c7             	mov    %rax,%rdi
    1959:	e8 32 f7 ff ff       	callq  1090 <malloc@plt>
    195e:	48 89 45 e8          	mov    %rax,-0x18(%rbp)
    1962:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1965:	89 45 dc             	mov    %eax,-0x24(%rbp)
    1968:	8b 45 dc             	mov    -0x24(%rbp),%eax
    196b:	3b 45 bc             	cmp    -0x44(%rbp),%eax
    196e:	7d 06                	jge    1976 <kalman+0x4d>
    1970:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1973:	89 45 dc             	mov    %eax,-0x24(%rbp)
    1976:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1979:	0f af c0             	imul   %eax,%eax
    197c:	48 98                	cltq   
    197e:	48 c1 e0 03          	shl    $0x3,%rax
    1982:	48 89 c7             	mov    %rax,%rdi
    1985:	e8 06 f7 ff ff       	callq  1090 <malloc@plt>
    198a:	48 89 45 f0          	mov    %rax,-0x10(%rbp)
    198e:	8b 45 dc             	mov    -0x24(%rbp),%eax
    1991:	0f af c0             	imul   %eax,%eax
    1994:	48 98                	cltq   
    1996:	48 c1 e0 03          	shl    $0x3,%rax
    199a:	48 89 c7             	mov    %rax,%rdi
    199d:	e8 ee f6 ff ff       	callq  1090 <malloc@plt>
    19a2:	48 89 45 f8          	mov    %rax,-0x8(%rbp)
    19a6:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    19ad:	e9 e7 00 00 00       	jmpq   1a99 <kalman+0x170>
    19b2:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    19b9:	e9 cb 00 00 00       	jmpq   1a89 <kalman+0x160>
    19be:	8b 45 cc             	mov    -0x34(%rbp),%eax
    19c1:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    19c5:	89 c2                	mov    %eax,%edx
    19c7:	8b 45 d0             	mov    -0x30(%rbp),%eax
    19ca:	01 d0                	add    %edx,%eax
    19cc:	89 45 d8             	mov    %eax,-0x28(%rbp)
    19cf:	8b 45 d8             	mov    -0x28(%rbp),%eax
    19d2:	48 98                	cltq   
    19d4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    19db:	00 
    19dc:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    19e0:	48 01 d0             	add    %rdx,%rax
    19e3:	66 0f ef c0          	pxor   %xmm0,%xmm0
    19e7:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    19eb:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    19f2:	e9 82 00 00 00       	jmpq   1a79 <kalman+0x150>
    19f7:	8b 45 d8             	mov    -0x28(%rbp),%eax
    19fa:	48 98                	cltq   
    19fc:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a03:	00 
    1a04:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1a08:	48 01 d0             	add    %rdx,%rax
    1a0b:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1a0f:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1a12:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1a16:	89 c2                	mov    %eax,%edx
    1a18:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1a1b:	01 d0                	add    %edx,%eax
    1a1d:	48 98                	cltq   
    1a1f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a26:	00 
    1a27:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1a2b:	48 01 d0             	add    %rdx,%rax
    1a2e:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1a32:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1a35:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1a39:	89 c2                	mov    %eax,%edx
    1a3b:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1a3e:	01 d0                	add    %edx,%eax
    1a40:	48 98                	cltq   
    1a42:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a49:	00 
    1a4a:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    1a4e:	48 01 d0             	add    %rdx,%rax
    1a51:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1a55:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1a59:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1a5c:	48 98                	cltq   
    1a5e:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1a65:	00 
    1a66:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1a6a:	48 01 d0             	add    %rdx,%rax
    1a6d:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1a71:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1a75:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1a79:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1a7c:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1a7f:	0f 8f 72 ff ff ff    	jg     19f7 <kalman+0xce>
    1a85:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1a89:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1a8c:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1a8f:	0f 8f 29 ff ff ff    	jg     19be <kalman+0x95>
    1a95:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1a99:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1a9c:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1a9f:	0f 8f 0d ff ff ff    	jg     19b2 <kalman+0x89>
    1aa5:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1aac:	e9 fb 00 00 00       	jmpq   1bac <kalman+0x283>
    1ab1:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1ab8:	e9 df 00 00 00       	jmpq   1b9c <kalman+0x273>
    1abd:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1ac0:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1ac4:	89 c2                	mov    %eax,%edx
    1ac6:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1ac9:	01 d0                	add    %edx,%eax
    1acb:	89 45 d8             	mov    %eax,-0x28(%rbp)
    1ace:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1ad1:	48 98                	cltq   
    1ad3:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1ada:	00 
    1adb:	48 8b 45 a0          	mov    -0x60(%rbp),%rax
    1adf:	48 01 c2             	add    %rax,%rdx
    1ae2:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1ae5:	48 98                	cltq   
    1ae7:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    1aee:	00 
    1aef:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1af3:	48 01 c8             	add    %rcx,%rax
    1af6:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    1afa:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1afe:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1b05:	e9 82 00 00 00       	jmpq   1b8c <kalman+0x263>
    1b0a:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1b0d:	48 98                	cltq   
    1b0f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b16:	00 
    1b17:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1b1b:	48 01 d0             	add    %rdx,%rax
    1b1e:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1b22:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1b25:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1b29:	89 c2                	mov    %eax,%edx
    1b2b:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1b2e:	01 d0                	add    %edx,%eax
    1b30:	48 98                	cltq   
    1b32:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b39:	00 
    1b3a:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    1b3e:	48 01 d0             	add    %rdx,%rax
    1b41:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1b45:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1b48:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1b4c:	89 c2                	mov    %eax,%edx
    1b4e:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1b51:	01 d0                	add    %edx,%eax
    1b53:	48 98                	cltq   
    1b55:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b5c:	00 
    1b5d:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1b61:	48 01 d0             	add    %rdx,%rax
    1b64:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1b68:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1b6c:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1b6f:	48 98                	cltq   
    1b71:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1b78:	00 
    1b79:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1b7d:	48 01 d0             	add    %rdx,%rax
    1b80:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1b84:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1b88:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1b8c:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1b8f:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1b92:	0f 8f 72 ff ff ff    	jg     1b0a <kalman+0x1e1>
    1b98:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1b9c:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1b9f:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1ba2:	0f 8f 15 ff ff ff    	jg     1abd <kalman+0x194>
    1ba8:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1bac:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1baf:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1bb2:	0f 8f f9 fe ff ff    	jg     1ab1 <kalman+0x188>
    1bb8:	c7 45 d8 02 00 00 00 	movl   $0x2,-0x28(%rbp)
    1bbf:	e9 6a 0a 00 00       	jmpq   262e <kalman+0xd05>
    1bc4:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1bcb:	e9 e7 00 00 00       	jmpq   1cb7 <kalman+0x38e>
    1bd0:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1bd7:	e9 cb 00 00 00       	jmpq   1ca7 <kalman+0x37e>
    1bdc:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1bdf:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1be3:	89 c2                	mov    %eax,%edx
    1be5:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1be8:	01 d0                	add    %edx,%eax
    1bea:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1bed:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1bf0:	48 98                	cltq   
    1bf2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1bf9:	00 
    1bfa:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1bfe:	48 01 d0             	add    %rdx,%rax
    1c01:	66 0f ef c0          	pxor   %xmm0,%xmm0
    1c05:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1c09:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1c10:	e9 82 00 00 00       	jmpq   1c97 <kalman+0x36e>
    1c15:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1c18:	48 98                	cltq   
    1c1a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c21:	00 
    1c22:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1c26:	48 01 d0             	add    %rdx,%rax
    1c29:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1c2d:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1c30:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1c34:	89 c2                	mov    %eax,%edx
    1c36:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1c39:	01 d0                	add    %edx,%eax
    1c3b:	48 98                	cltq   
    1c3d:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c44:	00 
    1c45:	48 8b 45 28          	mov    0x28(%rbp),%rax
    1c49:	48 01 d0             	add    %rdx,%rax
    1c4c:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1c50:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1c53:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1c57:	89 c2                	mov    %eax,%edx
    1c59:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1c5c:	01 d0                	add    %edx,%eax
    1c5e:	48 98                	cltq   
    1c60:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c67:	00 
    1c68:	48 8b 45 10          	mov    0x10(%rbp),%rax
    1c6c:	48 01 d0             	add    %rdx,%rax
    1c6f:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1c73:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1c77:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1c7a:	48 98                	cltq   
    1c7c:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1c83:	00 
    1c84:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1c88:	48 01 d0             	add    %rdx,%rax
    1c8b:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1c8f:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1c93:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1c97:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1c9a:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1c9d:	0f 8f 72 ff ff ff    	jg     1c15 <kalman+0x2ec>
    1ca3:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1ca7:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1caa:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1cad:	0f 8f 29 ff ff ff    	jg     1bdc <kalman+0x2b3>
    1cb3:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1cb7:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1cba:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1cbd:	0f 8f 0d ff ff ff    	jg     1bd0 <kalman+0x2a7>
    1cc3:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1cca:	e9 fb 00 00 00       	jmpq   1dca <kalman+0x4a1>
    1ccf:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1cd6:	e9 df 00 00 00       	jmpq   1dba <kalman+0x491>
    1cdb:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1cde:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    1ce2:	89 c2                	mov    %eax,%edx
    1ce4:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1ce7:	01 d0                	add    %edx,%eax
    1ce9:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1cec:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1cef:	48 98                	cltq   
    1cf1:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1cf8:	00 
    1cf9:	48 8b 45 98          	mov    -0x68(%rbp),%rax
    1cfd:	48 01 c2             	add    %rax,%rdx
    1d00:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1d03:	48 98                	cltq   
    1d05:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    1d0c:	00 
    1d0d:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1d11:	48 01 c8             	add    %rcx,%rax
    1d14:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    1d18:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1d1c:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1d23:	e9 82 00 00 00       	jmpq   1daa <kalman+0x481>
    1d28:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1d2b:	48 98                	cltq   
    1d2d:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d34:	00 
    1d35:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1d39:	48 01 d0             	add    %rdx,%rax
    1d3c:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1d40:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1d43:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1d47:	89 c2                	mov    %eax,%edx
    1d49:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1d4c:	01 d0                	add    %edx,%eax
    1d4e:	48 98                	cltq   
    1d50:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d57:	00 
    1d58:	48 8b 45 10          	mov    0x10(%rbp),%rax
    1d5c:	48 01 d0             	add    %rdx,%rax
    1d5f:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1d63:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1d66:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1d6a:	89 c2                	mov    %eax,%edx
    1d6c:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1d6f:	01 d0                	add    %edx,%eax
    1d71:	48 98                	cltq   
    1d73:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d7a:	00 
    1d7b:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1d7f:	48 01 d0             	add    %rdx,%rax
    1d82:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1d86:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1d8a:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1d8d:	48 98                	cltq   
    1d8f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1d96:	00 
    1d97:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1d9b:	48 01 d0             	add    %rdx,%rax
    1d9e:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1da2:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1da6:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1daa:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1dad:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1db0:	0f 8f 72 ff ff ff    	jg     1d28 <kalman+0x3ff>
    1db6:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1dba:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1dbd:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1dc0:	0f 8f 15 ff ff ff    	jg     1cdb <kalman+0x3b2>
    1dc6:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1dca:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1dcd:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1dd0:	0f 8f f9 fe ff ff    	jg     1ccf <kalman+0x3a6>
    1dd6:	8b 55 b8             	mov    -0x48(%rbp),%edx
    1dd9:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1ddd:	89 d6                	mov    %edx,%esi
    1ddf:	48 89 c7             	mov    %rax,%rdi
    1de2:	b8 00 00 00 00       	mov    $0x0,%eax
    1de7:	e8 9d f3 ff ff       	callq  1189 <rinv>
    1dec:	89 45 e0             	mov    %eax,-0x20(%rbp)
    1def:	83 7d e0 00          	cmpl   $0x0,-0x20(%rbp)
    1df3:	75 2c                	jne    1e21 <kalman+0x4f8>
    1df5:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1df9:	48 89 c7             	mov    %rax,%rdi
    1dfc:	e8 6f f2 ff ff       	callq  1070 <free@plt>
    1e01:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1e05:	48 89 c7             	mov    %rax,%rdi
    1e08:	e8 63 f2 ff ff       	callq  1070 <free@plt>
    1e0d:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    1e11:	48 89 c7             	mov    %rax,%rdi
    1e14:	e8 57 f2 ff ff       	callq  1070 <free@plt>
    1e19:	8b 45 e0             	mov    -0x20(%rbp),%eax
    1e1c:	e9 40 08 00 00       	jmpq   2661 <kalman+0xd38>
    1e21:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1e28:	e9 e7 00 00 00       	jmpq   1f14 <kalman+0x5eb>
    1e2d:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1e34:	e9 cb 00 00 00       	jmpq   1f04 <kalman+0x5db>
    1e39:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1e3c:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    1e40:	89 c2                	mov    %eax,%edx
    1e42:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1e45:	01 d0                	add    %edx,%eax
    1e47:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1e4a:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1e4d:	48 98                	cltq   
    1e4f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1e56:	00 
    1e57:	48 8b 45 30          	mov    0x30(%rbp),%rax
    1e5b:	48 01 d0             	add    %rdx,%rax
    1e5e:	66 0f ef c0          	pxor   %xmm0,%xmm0
    1e62:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1e66:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    1e6d:	e9 82 00 00 00       	jmpq   1ef4 <kalman+0x5cb>
    1e72:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1e75:	48 98                	cltq   
    1e77:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1e7e:	00 
    1e7f:	48 8b 45 30          	mov    0x30(%rbp),%rax
    1e83:	48 01 d0             	add    %rdx,%rax
    1e86:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1e8a:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1e8d:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    1e91:	89 c2                	mov    %eax,%edx
    1e93:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1e96:	01 d0                	add    %edx,%eax
    1e98:	48 98                	cltq   
    1e9a:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1ea1:	00 
    1ea2:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    1ea6:	48 01 d0             	add    %rdx,%rax
    1ea9:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1ead:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1eb0:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    1eb4:	89 c2                	mov    %eax,%edx
    1eb6:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    1eb9:	01 d0                	add    %edx,%eax
    1ebb:	48 98                	cltq   
    1ebd:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1ec4:	00 
    1ec5:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    1ec9:	48 01 d0             	add    %rdx,%rax
    1ecc:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1ed0:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1ed4:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1ed7:	48 98                	cltq   
    1ed9:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1ee0:	00 
    1ee1:	48 8b 45 30          	mov    0x30(%rbp),%rax
    1ee5:	48 01 d0             	add    %rdx,%rax
    1ee8:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1eec:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1ef0:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    1ef4:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1ef7:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    1efa:	0f 8f 72 ff ff ff    	jg     1e72 <kalman+0x549>
    1f00:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1f04:	8b 45 b8             	mov    -0x48(%rbp),%eax
    1f07:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1f0a:	0f 8f 29 ff ff ff    	jg     1e39 <kalman+0x510>
    1f10:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1f14:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1f17:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    1f1a:	0f 8f 0d ff ff ff    	jg     1e2d <kalman+0x504>
    1f20:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    1f27:	e9 d1 00 00 00       	jmpq   1ffd <kalman+0x6d4>
    1f2c:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1f2f:	83 e8 01             	sub    $0x1,%eax
    1f32:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1f36:	89 c2                	mov    %eax,%edx
    1f38:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1f3b:	01 d0                	add    %edx,%eax
    1f3d:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    1f40:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1f43:	48 98                	cltq   
    1f45:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1f4c:	00 
    1f4d:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1f51:	48 01 d0             	add    %rdx,%rax
    1f54:	66 0f ef c0          	pxor   %xmm0,%xmm0
    1f58:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1f5c:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    1f63:	e9 85 00 00 00       	jmpq   1fed <kalman+0x6c4>
    1f68:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1f6b:	48 98                	cltq   
    1f6d:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1f74:	00 
    1f75:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1f79:	48 01 d0             	add    %rdx,%rax
    1f7c:	f2 0f 10 08          	movsd  (%rax),%xmm1
    1f80:	8b 45 cc             	mov    -0x34(%rbp),%eax
    1f83:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1f87:	89 c2                	mov    %eax,%edx
    1f89:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1f8c:	01 d0                	add    %edx,%eax
    1f8e:	48 98                	cltq   
    1f90:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1f97:	00 
    1f98:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    1f9c:	48 01 d0             	add    %rdx,%rax
    1f9f:	f2 0f 10 10          	movsd  (%rax),%xmm2
    1fa3:	8b 45 d8             	mov    -0x28(%rbp),%eax
    1fa6:	83 e8 02             	sub    $0x2,%eax
    1fa9:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    1fad:	89 c2                	mov    %eax,%edx
    1faf:	8b 45 d0             	mov    -0x30(%rbp),%eax
    1fb2:	01 d0                	add    %edx,%eax
    1fb4:	48 98                	cltq   
    1fb6:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1fbd:	00 
    1fbe:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1fc2:	48 01 d0             	add    %rdx,%rax
    1fc5:	f2 0f 10 00          	movsd  (%rax),%xmm0
    1fc9:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    1fcd:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    1fd0:	48 98                	cltq   
    1fd2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    1fd9:	00 
    1fda:	48 8b 45 20          	mov    0x20(%rbp),%rax
    1fde:	48 01 d0             	add    %rdx,%rax
    1fe1:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    1fe5:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    1fe9:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    1fed:	8b 45 bc             	mov    -0x44(%rbp),%eax
    1ff0:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    1ff3:	0f 8f 6f ff ff ff    	jg     1f68 <kalman+0x63f>
    1ff9:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    1ffd:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2000:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2003:	0f 8f 23 ff ff ff    	jg     1f2c <kalman+0x603>
    2009:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2010:	e9 e9 00 00 00       	jmpq   20fe <kalman+0x7d5>
    2015:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2018:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    201c:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    201f:	8b 45 d8             	mov    -0x28(%rbp),%eax
    2022:	83 e8 01             	sub    $0x1,%eax
    2025:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    2029:	89 c2                	mov    %eax,%edx
    202b:	8b 45 cc             	mov    -0x34(%rbp),%eax
    202e:	01 d0                	add    %edx,%eax
    2030:	48 98                	cltq   
    2032:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2039:	00 
    203a:	48 8b 45 18          	mov    0x18(%rbp),%rax
    203e:	48 01 c2             	add    %rax,%rdx
    2041:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2044:	48 98                	cltq   
    2046:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    204d:	00 
    204e:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2052:	48 01 c8             	add    %rcx,%rax
    2055:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    2059:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    205d:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    2064:	e9 85 00 00 00       	jmpq   20ee <kalman+0x7c5>
    2069:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    206c:	48 98                	cltq   
    206e:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2075:	00 
    2076:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    207a:	48 01 d0             	add    %rdx,%rax
    207d:	f2 0f 10 00          	movsd  (%rax),%xmm0
    2081:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2084:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    2088:	89 c2                	mov    %eax,%edx
    208a:	8b 45 d0             	mov    -0x30(%rbp),%eax
    208d:	01 d0                	add    %edx,%eax
    208f:	48 98                	cltq   
    2091:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2098:	00 
    2099:	48 8b 45 10          	mov    0x10(%rbp),%rax
    209d:	48 01 d0             	add    %rdx,%rax
    20a0:	f2 0f 10 10          	movsd  (%rax),%xmm2
    20a4:	8b 45 d8             	mov    -0x28(%rbp),%eax
    20a7:	83 e8 01             	sub    $0x1,%eax
    20aa:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    20ae:	89 c2                	mov    %eax,%edx
    20b0:	8b 45 d0             	mov    -0x30(%rbp),%eax
    20b3:	01 d0                	add    %edx,%eax
    20b5:	48 98                	cltq   
    20b7:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    20be:	00 
    20bf:	48 8b 45 20          	mov    0x20(%rbp),%rax
    20c3:	48 01 d0             	add    %rdx,%rax
    20c6:	f2 0f 10 08          	movsd  (%rax),%xmm1
    20ca:	f2 0f 59 ca          	mulsd  %xmm2,%xmm1
    20ce:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    20d1:	48 98                	cltq   
    20d3:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    20da:	00 
    20db:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    20df:	48 01 d0             	add    %rdx,%rax
    20e2:	f2 0f 5c c1          	subsd  %xmm1,%xmm0
    20e6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    20ea:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    20ee:	8b 45 bc             	mov    -0x44(%rbp),%eax
    20f1:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    20f4:	0f 8f 6f ff ff ff    	jg     2069 <kalman+0x740>
    20fa:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    20fe:	8b 45 b8             	mov    -0x48(%rbp),%eax
    2101:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2104:	0f 8f 0b ff ff ff    	jg     2015 <kalman+0x6ec>
    210a:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2111:	e9 a8 00 00 00       	jmpq   21be <kalman+0x895>
    2116:	8b 45 d8             	mov    -0x28(%rbp),%eax
    2119:	83 e8 01             	sub    $0x1,%eax
    211c:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    2120:	89 c2                	mov    %eax,%edx
    2122:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2125:	01 d0                	add    %edx,%eax
    2127:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    212a:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    2131:	eb 7b                	jmp    21ae <kalman+0x885>
    2133:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2136:	48 98                	cltq   
    2138:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    213f:	00 
    2140:	48 8b 45 20          	mov    0x20(%rbp),%rax
    2144:	48 01 d0             	add    %rdx,%rax
    2147:	f2 0f 10 08          	movsd  (%rax),%xmm1
    214b:	8b 45 cc             	mov    -0x34(%rbp),%eax
    214e:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    2152:	89 c2                	mov    %eax,%edx
    2154:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2157:	01 d0                	add    %edx,%eax
    2159:	48 98                	cltq   
    215b:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2162:	00 
    2163:	48 8b 45 30          	mov    0x30(%rbp),%rax
    2167:	48 01 d0             	add    %rdx,%rax
    216a:	f2 0f 10 10          	movsd  (%rax),%xmm2
    216e:	8b 45 d0             	mov    -0x30(%rbp),%eax
    2171:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    2175:	48 98                	cltq   
    2177:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    217e:	00 
    217f:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2183:	48 01 d0             	add    %rdx,%rax
    2186:	f2 0f 10 00          	movsd  (%rax),%xmm0
    218a:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    218e:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2191:	48 98                	cltq   
    2193:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    219a:	00 
    219b:	48 8b 45 20          	mov    0x20(%rbp),%rax
    219f:	48 01 d0             	add    %rdx,%rax
    21a2:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    21a6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    21aa:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    21ae:	8b 45 b8             	mov    -0x48(%rbp),%eax
    21b1:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    21b4:	0f 8f 79 ff ff ff    	jg     2133 <kalman+0x80a>
    21ba:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    21be:	8b 45 bc             	mov    -0x44(%rbp),%eax
    21c1:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    21c4:	0f 8f 4c ff ff ff    	jg     2116 <kalman+0x7ed>
    21ca:	8b 45 d8             	mov    -0x28(%rbp),%eax
    21cd:	3b 45 b4             	cmp    -0x4c(%rbp),%eax
    21d0:	0f 8d 54 04 00 00    	jge    262a <kalman+0xd01>
    21d6:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    21dd:	e9 2b 01 00 00       	jmpq   230d <kalman+0x9e4>
    21e2:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    21e9:	e9 0f 01 00 00       	jmpq   22fd <kalman+0x9d4>
    21ee:	8b 45 cc             	mov    -0x34(%rbp),%eax
    21f1:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    21f5:	89 c2                	mov    %eax,%edx
    21f7:	8b 45 d0             	mov    -0x30(%rbp),%eax
    21fa:	01 d0                	add    %edx,%eax
    21fc:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    21ff:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2202:	48 98                	cltq   
    2204:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    220b:	00 
    220c:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    2210:	48 01 d0             	add    %rdx,%rax
    2213:	66 0f ef c0          	pxor   %xmm0,%xmm0
    2217:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    221b:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    2222:	e9 82 00 00 00       	jmpq   22a9 <kalman+0x980>
    2227:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    222a:	48 98                	cltq   
    222c:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2233:	00 
    2234:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    2238:	48 01 d0             	add    %rdx,%rax
    223b:	f2 0f 10 00          	movsd  (%rax),%xmm0
    223f:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2242:	0f af 45 b8          	imul   -0x48(%rbp),%eax
    2246:	89 c2                	mov    %eax,%edx
    2248:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    224b:	01 d0                	add    %edx,%eax
    224d:	48 98                	cltq   
    224f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2256:	00 
    2257:	48 8b 45 30          	mov    0x30(%rbp),%rax
    225b:	48 01 d0             	add    %rdx,%rax
    225e:	f2 0f 10 10          	movsd  (%rax),%xmm2
    2262:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    2265:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    2269:	89 c2                	mov    %eax,%edx
    226b:	8b 45 d0             	mov    -0x30(%rbp),%eax
    226e:	01 d0                	add    %edx,%eax
    2270:	48 98                	cltq   
    2272:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2279:	00 
    227a:	48 8b 45 10          	mov    0x10(%rbp),%rax
    227e:	48 01 d0             	add    %rdx,%rax
    2281:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2285:	f2 0f 59 ca          	mulsd  %xmm2,%xmm1
    2289:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    228c:	48 98                	cltq   
    228e:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2295:	00 
    2296:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    229a:	48 01 d0             	add    %rdx,%rax
    229d:	f2 0f 5c c1          	subsd  %xmm1,%xmm0
    22a1:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    22a5:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    22a9:	8b 45 b8             	mov    -0x48(%rbp),%eax
    22ac:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    22af:	0f 8f 72 ff ff ff    	jg     2227 <kalman+0x8fe>
    22b5:	8b 45 cc             	mov    -0x34(%rbp),%eax
    22b8:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    22bb:	75 3c                	jne    22f9 <kalman+0x9d0>
    22bd:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    22c0:	48 98                	cltq   
    22c2:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    22c9:	00 
    22ca:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    22ce:	48 01 d0             	add    %rdx,%rax
    22d1:	f2 0f 10 08          	movsd  (%rax),%xmm1
    22d5:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    22d8:	48 98                	cltq   
    22da:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    22e1:	00 
    22e2:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    22e6:	48 01 d0             	add    %rdx,%rax
    22e9:	f2 0f 10 05 3f 0d 00 	movsd  0xd3f(%rip),%xmm0        # 3030 <_IO_stdin_used+0x30>
    22f0:	00 
    22f1:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    22f5:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    22f9:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    22fd:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2300:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2303:	0f 8f e5 fe ff ff    	jg     21ee <kalman+0x8c5>
    2309:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    230d:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2310:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2313:	0f 8f c9 fe ff ff    	jg     21e2 <kalman+0x8b9>
    2319:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    2320:	e9 e7 00 00 00       	jmpq   240c <kalman+0xae3>
    2325:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    232c:	e9 cb 00 00 00       	jmpq   23fc <kalman+0xad3>
    2331:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2334:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    2338:	89 c2                	mov    %eax,%edx
    233a:	8b 45 d0             	mov    -0x30(%rbp),%eax
    233d:	01 d0                	add    %edx,%eax
    233f:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2342:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2345:	48 98                	cltq   
    2347:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    234e:	00 
    234f:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2353:	48 01 d0             	add    %rdx,%rax
    2356:	66 0f ef c0          	pxor   %xmm0,%xmm0
    235a:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    235e:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    2365:	e9 82 00 00 00       	jmpq   23ec <kalman+0xac3>
    236a:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    236d:	48 98                	cltq   
    236f:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2376:	00 
    2377:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    237b:	48 01 d0             	add    %rdx,%rax
    237e:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2382:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2385:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    2389:	89 c2                	mov    %eax,%edx
    238b:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    238e:	01 d0                	add    %edx,%eax
    2390:	48 98                	cltq   
    2392:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2399:	00 
    239a:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    239e:	48 01 d0             	add    %rdx,%rax
    23a1:	f2 0f 10 10          	movsd  (%rax),%xmm2
    23a5:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    23a8:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    23ac:	89 c2                	mov    %eax,%edx
    23ae:	8b 45 d0             	mov    -0x30(%rbp),%eax
    23b1:	01 d0                	add    %edx,%eax
    23b3:	48 98                	cltq   
    23b5:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    23bc:	00 
    23bd:	48 8b 45 28          	mov    0x28(%rbp),%rax
    23c1:	48 01 d0             	add    %rdx,%rax
    23c4:	f2 0f 10 00          	movsd  (%rax),%xmm0
    23c8:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    23cc:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    23cf:	48 98                	cltq   
    23d1:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    23d8:	00 
    23d9:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    23dd:	48 01 d0             	add    %rdx,%rax
    23e0:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    23e4:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    23e8:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    23ec:	8b 45 bc             	mov    -0x44(%rbp),%eax
    23ef:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    23f2:	0f 8f 72 ff ff ff    	jg     236a <kalman+0xa41>
    23f8:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    23fc:	8b 45 bc             	mov    -0x44(%rbp),%eax
    23ff:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2402:	0f 8f 29 ff ff ff    	jg     2331 <kalman+0xa08>
    2408:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    240c:	8b 45 bc             	mov    -0x44(%rbp),%eax
    240f:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2412:	0f 8f 0d ff ff ff    	jg     2325 <kalman+0x9fc>
    2418:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    241f:	e9 e7 00 00 00       	jmpq   250b <kalman+0xbe2>
    2424:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    242b:	e9 cb 00 00 00       	jmpq   24fb <kalman+0xbd2>
    2430:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2433:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    2437:	89 c2                	mov    %eax,%edx
    2439:	8b 45 d0             	mov    -0x30(%rbp),%eax
    243c:	01 d0                	add    %edx,%eax
    243e:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2441:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2444:	48 98                	cltq   
    2446:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    244d:	00 
    244e:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    2452:	48 01 d0             	add    %rdx,%rax
    2455:	66 0f ef c0          	pxor   %xmm0,%xmm0
    2459:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    245d:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    2464:	e9 82 00 00 00       	jmpq   24eb <kalman+0xbc2>
    2469:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    246c:	48 98                	cltq   
    246e:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2475:	00 
    2476:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    247a:	48 01 d0             	add    %rdx,%rax
    247d:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2481:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2484:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    2488:	89 c2                	mov    %eax,%edx
    248a:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    248d:	01 d0                	add    %edx,%eax
    248f:	48 98                	cltq   
    2491:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2498:	00 
    2499:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    249d:	48 01 d0             	add    %rdx,%rax
    24a0:	f2 0f 10 10          	movsd  (%rax),%xmm2
    24a4:	8b 45 d0             	mov    -0x30(%rbp),%eax
    24a7:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    24ab:	89 c2                	mov    %eax,%edx
    24ad:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    24b0:	01 d0                	add    %edx,%eax
    24b2:	48 98                	cltq   
    24b4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    24bb:	00 
    24bc:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    24c0:	48 01 d0             	add    %rdx,%rax
    24c3:	f2 0f 10 00          	movsd  (%rax),%xmm0
    24c7:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    24cb:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    24ce:	48 98                	cltq   
    24d0:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    24d7:	00 
    24d8:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    24dc:	48 01 d0             	add    %rdx,%rax
    24df:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    24e3:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    24e7:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    24eb:	8b 45 bc             	mov    -0x44(%rbp),%eax
    24ee:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    24f1:	0f 8f 72 ff ff ff    	jg     2469 <kalman+0xb40>
    24f7:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    24fb:	8b 45 bc             	mov    -0x44(%rbp),%eax
    24fe:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2501:	0f 8f 29 ff ff ff    	jg     2430 <kalman+0xb07>
    2507:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    250b:	8b 45 bc             	mov    -0x44(%rbp),%eax
    250e:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2511:	0f 8f 0d ff ff ff    	jg     2424 <kalman+0xafb>
    2517:	c7 45 cc 00 00 00 00 	movl   $0x0,-0x34(%rbp)
    251e:	e9 fb 00 00 00       	jmpq   261e <kalman+0xcf5>
    2523:	c7 45 d0 00 00 00 00 	movl   $0x0,-0x30(%rbp)
    252a:	e9 df 00 00 00       	jmpq   260e <kalman+0xce5>
    252f:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2532:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    2536:	89 c2                	mov    %eax,%edx
    2538:	8b 45 d0             	mov    -0x30(%rbp),%eax
    253b:	01 d0                	add    %edx,%eax
    253d:	89 45 e4             	mov    %eax,-0x1c(%rbp)
    2540:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2543:	48 98                	cltq   
    2545:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    254c:	00 
    254d:	48 8b 45 a0          	mov    -0x60(%rbp),%rax
    2551:	48 01 c2             	add    %rax,%rdx
    2554:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    2557:	48 98                	cltq   
    2559:	48 8d 0c c5 00 00 00 	lea    0x0(,%rax,8),%rcx
    2560:	00 
    2561:	48 8b 45 28          	mov    0x28(%rbp),%rax
    2565:	48 01 c8             	add    %rcx,%rax
    2568:	f2 0f 10 02          	movsd  (%rdx),%xmm0
    256c:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    2570:	c7 45 d4 00 00 00 00 	movl   $0x0,-0x2c(%rbp)
    2577:	e9 82 00 00 00       	jmpq   25fe <kalman+0xcd5>
    257c:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    257f:	48 98                	cltq   
    2581:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    2588:	00 
    2589:	48 8b 45 28          	mov    0x28(%rbp),%rax
    258d:	48 01 d0             	add    %rdx,%rax
    2590:	f2 0f 10 08          	movsd  (%rax),%xmm1
    2594:	8b 45 cc             	mov    -0x34(%rbp),%eax
    2597:	0f af 45 bc          	imul   -0x44(%rbp),%eax
    259b:	89 c2                	mov    %eax,%edx
    259d:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    25a0:	01 d0                	add    %edx,%eax
    25a2:	48 98                	cltq   
    25a4:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    25ab:	00 
    25ac:	48 8b 45 a8          	mov    -0x58(%rbp),%rax
    25b0:	48 01 d0             	add    %rdx,%rax
    25b3:	f2 0f 10 10          	movsd  (%rax),%xmm2
    25b7:	8b 45 d0             	mov    -0x30(%rbp),%eax
    25ba:	0f af 45 dc          	imul   -0x24(%rbp),%eax
    25be:	89 c2                	mov    %eax,%edx
    25c0:	8b 45 d4             	mov    -0x2c(%rbp),%eax
    25c3:	01 d0                	add    %edx,%eax
    25c5:	48 98                	cltq   
    25c7:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    25ce:	00 
    25cf:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    25d3:	48 01 d0             	add    %rdx,%rax
    25d6:	f2 0f 10 00          	movsd  (%rax),%xmm0
    25da:	f2 0f 59 c2          	mulsd  %xmm2,%xmm0
    25de:	8b 45 e4             	mov    -0x1c(%rbp),%eax
    25e1:	48 98                	cltq   
    25e3:	48 8d 14 c5 00 00 00 	lea    0x0(,%rax,8),%rdx
    25ea:	00 
    25eb:	48 8b 45 28          	mov    0x28(%rbp),%rax
    25ef:	48 01 d0             	add    %rdx,%rax
    25f2:	f2 0f 58 c1          	addsd  %xmm1,%xmm0
    25f6:	f2 0f 11 00          	movsd  %xmm0,(%rax)
    25fa:	83 45 d4 01          	addl   $0x1,-0x2c(%rbp)
    25fe:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2601:	3b 45 d4             	cmp    -0x2c(%rbp),%eax
    2604:	0f 8f 72 ff ff ff    	jg     257c <kalman+0xc53>
    260a:	83 45 d0 01          	addl   $0x1,-0x30(%rbp)
    260e:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2611:	3b 45 d0             	cmp    -0x30(%rbp),%eax
    2614:	0f 8f 15 ff ff ff    	jg     252f <kalman+0xc06>
    261a:	83 45 cc 01          	addl   $0x1,-0x34(%rbp)
    261e:	8b 45 bc             	mov    -0x44(%rbp),%eax
    2621:	3b 45 cc             	cmp    -0x34(%rbp),%eax
    2624:	0f 8f f9 fe ff ff    	jg     2523 <kalman+0xbfa>
    262a:	83 45 d8 01          	addl   $0x1,-0x28(%rbp)
    262e:	8b 45 d8             	mov    -0x28(%rbp),%eax
    2631:	3b 45 b4             	cmp    -0x4c(%rbp),%eax
    2634:	0f 8e 8a f5 ff ff    	jle    1bc4 <kalman+0x29b>
    263a:	48 8b 45 e8          	mov    -0x18(%rbp),%rax
    263e:	48 89 c7             	mov    %rax,%rdi
    2641:	e8 2a ea ff ff       	callq  1070 <free@plt>
    2646:	48 8b 45 f0          	mov    -0x10(%rbp),%rax
    264a:	48 89 c7             	mov    %rax,%rdi
    264d:	e8 1e ea ff ff       	callq  1070 <free@plt>
    2652:	48 8b 45 f8          	mov    -0x8(%rbp),%rax
    2656:	48 89 c7             	mov    %rax,%rdi
    2659:	e8 12 ea ff ff       	callq  1070 <free@plt>
    265e:	8b 45 e0             	mov    -0x20(%rbp),%eax
    2661:	c9                   	leaveq 
    2662:	c3                   	retq   
    2663:	66 2e 0f 1f 84 00 00 	nopw   %cs:0x0(%rax,%rax,1)
    266a:	00 00 00 
    266d:	0f 1f 00             	nopl   (%rax)

0000000000002670 <__libc_csu_init>:
    2670:	f3 0f 1e fa          	endbr64 
    2674:	41 57                	push   %r15
    2676:	4c 8d 3d 2b 27 00 00 	lea    0x272b(%rip),%r15        # 4da8 <__frame_dummy_init_array_entry>
    267d:	41 56                	push   %r14
    267f:	49 89 d6             	mov    %rdx,%r14
    2682:	41 55                	push   %r13
    2684:	49 89 f5             	mov    %rsi,%r13
    2687:	41 54                	push   %r12
    2689:	41 89 fc             	mov    %edi,%r12d
    268c:	55                   	push   %rbp
    268d:	48 8d 2d 1c 27 00 00 	lea    0x271c(%rip),%rbp        # 4db0 <__do_global_dtors_aux_fini_array_entry>
    2694:	53                   	push   %rbx
    2695:	4c 29 fd             	sub    %r15,%rbp
    2698:	48 83 ec 08          	sub    $0x8,%rsp
    269c:	e8 5f e9 ff ff       	callq  1000 <_init>
    26a1:	48 c1 fd 03          	sar    $0x3,%rbp
    26a5:	74 1f                	je     26c6 <__libc_csu_init+0x56>
    26a7:	31 db                	xor    %ebx,%ebx
    26a9:	0f 1f 80 00 00 00 00 	nopl   0x0(%rax)
    26b0:	4c 89 f2             	mov    %r14,%rdx
    26b3:	4c 89 ee             	mov    %r13,%rsi
    26b6:	44 89 e7             	mov    %r12d,%edi
    26b9:	41 ff 14 df          	callq  *(%r15,%rbx,8)
    26bd:	48 83 c3 01          	add    $0x1,%rbx
    26c1:	48 39 dd             	cmp    %rbx,%rbp
    26c4:	75 ea                	jne    26b0 <__libc_csu_init+0x40>
    26c6:	48 83 c4 08          	add    $0x8,%rsp
    26ca:	5b                   	pop    %rbx
    26cb:	5d                   	pop    %rbp
    26cc:	41 5c                	pop    %r12
    26ce:	41 5d                	pop    %r13
    26d0:	41 5e                	pop    %r14
    26d2:	41 5f                	pop    %r15
    26d4:	c3                   	retq   
    26d5:	66 66 2e 0f 1f 84 00 	data16 nopw %cs:0x0(%rax,%rax,1)
    26dc:	00 00 00 00 

00000000000026e0 <__libc_csu_fini>:
    26e0:	f3 0f 1e fa          	endbr64 
    26e4:	c3                   	retq   

Disassembly of section .fini:

00000000000026e8 <_fini>:
    26e8:	f3 0f 1e fa          	endbr64 
    26ec:	48 83 ec 08          	sub    $0x8,%rsp
    26f0:	48 83 c4 08          	add    $0x8,%rsp
    26f4:	c3                   	retq   
